A dual-station frame-type loading and unloading machine for BGA carrier boards in the PCB industry

Abstract

This utility model discloses a dual-station BGA carrier board loading and unloading machine for the PCB industry, including a frame body, a conveying mechanism, a six-axis arm gripping mechanism, a vertical insertion mechanism, and a frame positioning mechanism. The conveying mechanism is mounted on the frame body, and the six-axis arm gripping mechanism for picking up boards is mounted on the side of the frame body at the side of the conveying mechanism. The vertical insertion mechanism, which interfaces with the six-axis arm gripping mechanism, is also mounted on the frame body. The frame positioning mechanism is mounted on the frame body below the vertical insertion mechanism. Through these methods, this utility model protects the substrate from scratches and damage, promptly detects whether the substrate is in place, and identifies potential substrate misalignment or other dangerous substrate factors. The dual-station design ensures production line continuity and has wide applicability.

Description

Technical Field

[0001] This utility model relates to the technical field of the PCB industry, and in particular to a dual-station frame-type loading and unloading machine for BGA carrier boards in the PCB industry. Background Technology

[0002] BGA substrates are high-end circuit boards with non-contact surfaces. They are often stored using trays or frames. When using frames as carriers, the requirements for loading and unloading equipment are very high. If the structure is slightly tilted or the operation is not smooth when inserting the board vertically, the board may not be able to be inserted into the frame smoothly, resulting in scratches or even scrapping of the board. Ordinary loading and unloading machines have low efficiency and cannot guarantee the continuity of the production line.

[0003] Based on the above defects and shortcomings, it is necessary to improve the existing technology and design a dual-station frame-type loading and unloading machine for BGA carrier boards in the PCB industry. Utility Model Content

[0004] The main technical problem solved by this utility model is to provide a dual-station frame-type loading and unloading machine for BGA carrier boards in the PCB industry, which protects the substrate from scratches and damage, and can detect dangerous substrate factors such as whether the substrate is in place or whether the structure is skewed. The dual-station design ensures the continuity of the production line and has wide applicability.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a dual-station BGA carrier board loading and unloading machine for the PCB industry is provided. This dual-station BGA carrier board loading and unloading machine includes a frame body, a conveying mechanism, a six-axis arm gripping mechanism, a vertical insertion mechanism, and a frame positioning mechanism. The conveying mechanism is installed on the frame body, and a six-axis arm gripping mechanism for picking up boards is installed on the frame body at the side of the conveying mechanism. A vertical insertion mechanism that docks with the six-axis arm gripping mechanism is also installed on the frame body. A frame positioning mechanism is installed on the frame body below the vertical insertion mechanism. The six-axis arm gripping mechanism includes a six-axis manipulator, a gripping frame driven by the six-axis manipulator, and gripping assemblies installed on both sides of the gripping frame. The gripping assemblies include a push-pull cylinder, a sliding table clamping cylinder, gripping blocks, and a gripping sensor. The push-pull cylinder is installed on the gripping frame and drives the sliding table clamping cylinder to extend. The sliding table clamping cylinder is installed perpendicular to the push-pull cylinder. Opposite gripping blocks are installed on the two slides of the sliding table clamping cylinder. Gripping pads are installed on the opposite surfaces of the two gripping blocks. The gripping pads are made of soft, wear-resistant material. A gripping sensor is installed on the gripping frame at the side of the sliding table clamping cylinder.

[0006] Preferably, the plate-removing pad is made of Teflon material.

[0007] Preferably, the conveying mechanism adopts a three-point contact conveying structure, including a conveying bracket, several conveying shafts rotatably mounted on the conveying bracket, a conveying motor that drives the conveying shafts to rotate synchronously via a gear chain, three sets of conveying rollers mounted on the conveying shafts, and a set of guide and limiting rollers disposed on the outside of the conveying rollers. The input end of the conveying bracket is equipped with an optical fiber for identifying products.

[0008] Preferably, the guide and limiting roller assembly includes several adjusting brackets mounted on the conveying bracket and guide rollers vertically mounted on the adjusting brackets, and the adjusting brackets are provided with elongated adjusting holes for adjusting the installation position of the guide rollers.

[0009] Preferably, the vertical insertion mechanism includes an X-axis linear module mounted on the frame body, a Z-axis linear module driven to move horizontally by the X-axis linear module, an insertion frame driven to move vertically by the Z-axis linear module, several gripper cylinders mounted on the top of the insertion frame, insertion grippers mounted on the two gripper arms of the gripper cylinders, and insertion sensors mounted on the middle and bottom of the insertion frame for identifying the posture of the product substrate. The insertion grippers are made of soft, wear-resistant material.

[0010] Preferably, the frame positioning mechanism includes a frame support platform, a frame, a positioning reference plate, a rotary clamping cylinder, a positioning clamping cylinder, a positioning block, and a positioning sensor. The frame support platform is provided on the main frame body, and the frame support platform connects to the frame transported by the forklift. Several base plate insertion positions are equidistantly arranged in the vertical direction of the frame. The positioning reference plate and the rotary clamping cylinder are provided on the rear side of the frame support platform. The positioning clamping cylinder is installed on the main frame body on the front side of the frame support platform. The positioning block for clamping the outer frame is installed on the piston rod flange plate of the positioning clamping cylinder. The working surface of the positioning block is provided with a vertical V-groove. Positioning sensors are also installed on the main frame body around the frame support platform.

[0011] Compared with the prior art, the beneficial effects of this utility model are: The conveying mechanism adopts a three-point contact conveying structure, which reduces the contact area with the substrate during the conveying process, protects the substrate, and the installation spacing of the guide rollers on both sides can be adjusted to match the conveying of products of different widths, making it widely applicable. The materials that come into contact with the gripping substrate by the six-axis arm gripping plate mechanism and the vertical insertion plate mechanism are all made of soft, wear-resistant materials such as Teflon to protect the substrate and prevent it from being scratched or damaged. Multiple sensors are designed to protect the substrate during the board removal and insertion process, and to detect factors that could endanger the substrate, such as whether the substrate is in place or whether the structure is skewed. The dual-station loading and unloading design ensures the continuity of the production line. After the production at station A is completed, it automatically switches to station B. Each station can be connected to an AGV or a handcart, helping customers reduce operator intervention and achieve a high degree of automation. Attached Figure Description

[0012] Figure 1 This is a structural diagram of a dual-station insert frame type loading and unloading machine for BGA carrier boards in the PCB industry.

[0013] Figure 2 This is a schematic diagram of the conveying mechanism of a dual-station insert-frame type loading and unloading machine for BGA carrier boards in the PCB industry.

[0014] Figure 3 This is a schematic diagram of the six-axis arm gripping mechanism of a dual-station insert frame loading and unloading machine for BGA carrier boards in the PCB industry.

[0015] Figure 4 This is a schematic diagram of the board loading assembly structure of a dual-station insert frame type loading and unloading machine for BGA carrier boards in the PCB industry.

[0016] Figure 5 This is a schematic diagram of the vertical insertion mechanism of a dual-station insertion frame type loading and unloading machine for BGA carrier boards in the PCB industry.

[0017] Figure 6 This is a schematic diagram of the frame positioning mechanism of a dual-station insert-frame type loading and unloading machine for BGA carrier boards in the PCB industry.

[0018] Among them, 1. Main frame; 2. Conveying mechanism; 21. Conveying support; 22. Conveying shaft; 23. Conveying motor; 24. Conveying roller; 25. Guide and limit roller assembly; 251. Adjusting support; 252. Guide roller; 26. Optical fiber. 3. Six-axis arm gripping mechanism; 31. Six-axis robot; 32. Retrieval frame; 33. Retrieval assembly; 331. Push-pull cylinder; 332. Slide-type clamping cylinder; 333. Retrieval clamping block; 334. Retrieval sensor. 4. Vertical insertion plate mechanism; 4a. Vertical insertion plate mechanism at station A; 4b. Vertical insertion plate mechanism at station B; 41. X-axis linear module; 42. Z-axis linear module; 43. Insertion plate frame; 44. Gripper cylinder; 45. Insertion plate gripper; 46. Insertion plate sensor. 5. Frame positioning mechanism; 5a. Frame positioning mechanism for station A; 5b. Frame positioning mechanism for station B; 51. Frame support platform; 52. Frame; 53. Positioning reference plate; 54. Rotary clamping cylinder; 55. Positioning clamping cylinder; 56. Positioning block; 57. Positioning sensor. Detailed Implementation

[0019] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the scope of protection of the present invention.

[0020] Please see Figures 1 to 6 The embodiments of this utility model include: A dual-station frame-type loading and unloading machine for BGA carrier boards in the PCB industry includes a frame body 1, a conveying mechanism 2, a six-axis arm gripping mechanism 3, a vertical insertion mechanism 4, and a frame positioning mechanism 5.

[0021] A conveying mechanism 2 is installed on the main frame 1. The conveying mechanism 2 is connected to the BGA carrier board output line. A six-axis arm gripping mechanism 3 for picking up boards is installed on the side of the main frame 1 of the conveying mechanism 2. A vertical insertion mechanism 4 with two stations connected to the six-axis arm gripping mechanism 3 is also installed on the main frame 1. A frame positioning mechanism 5 is installed on the main frame 1 below the vertical insertion mechanism 4. The dual-station vertical insertion mechanism 4 includes a station A vertical insertion mechanism 4a and a station B vertical insertion mechanism 4b. The dual-station frame positioning mechanism 5 is station A frame positioning mechanism 5a and station B frame positioning mechanism 5b.

[0022] The conveying mechanism 2 adopts a three-point contact conveying structure, including a conveying bracket 21, several conveying shafts 22 rotatably mounted on the conveying bracket 21, a conveying motor 23 that drives the conveying shafts 22 to rotate synchronously via a gear chain, three sets of conveying rollers 24 mounted on the conveying shafts 22, and a guide and limiting roller group 25 disposed on the outside of the conveying rollers 24. The guide and limiting roller group 25 includes several adjusting brackets 251 mounted on the conveying bracket 21 and guide rollers 252 vertically mounted on the adjusting brackets 251. The adjusting brackets 251 are provided with elongated adjusting holes for adjusting the installation position of the guide rollers 252. The installation spacing of the guide rollers 252 on both sides can be adjusted to match the conveying of products of different widths. An optical fiber 26 for identifying products is installed at the input end of the conveying bracket 21.

[0023] The six-axis arm gripping mechanism 3 includes a six-axis manipulator 31, a gripping frame 32 driven by the six-axis manipulator 31, and gripping assemblies 33 installed on both sides of the gripping frame 32. The gripping assembly 33 includes a push-pull cylinder 331, a sliding table clamping cylinder 332, a gripping block 333, and a gripping sensor 334. The push-pull cylinder 331 is installed on the gripping frame 32, and drives the sliding table clamping cylinder 332 to extend. The clamping cylinder 332 is installed perpendicular to the push-pull cylinder 331. The two slides of the sliding clamping cylinder 332 are equipped with opposing plate-removing clamping blocks 333. The opposing surfaces of the two plate-removing clamping blocks 333 are equipped with plate-removing pads. The plate-removing pads are made of soft wear-resistant material, such as Teflon. During the material removal process, the soft wear-resistant material comes into contact with the product substrate without damaging the substrate. The plate-removing sensor 334 is installed on the plate-removing frame 32 on the side of the sliding clamping cylinder 332.

[0024] The vertical insertion mechanism 4 includes an X-axis linear module 41 mounted on the frame body 1, a Z-axis linear module 42 driven by the X-axis linear module 41 to move horizontally, an insertion frame 43 driven by the Z-axis linear module 42 to move vertically, several gripper cylinders 44 mounted on the top of the insertion frame 43, insertion grippers 45 mounted on the two gripper arms of the gripper cylinders 44, and insertion sensors 46 mounted on the middle and bottom of the insertion frame 43 for identifying the posture of the product substrate. The insertion grippers 45 are made of soft and wear-resistant material, such as Teflon.

[0025] The frame positioning mechanism 5 includes a frame support platform 51, a frame 52, a positioning reference plate 53, a rotary clamping cylinder 54, a positioning clamping cylinder 55, a positioning block 56, and a positioning sensor 57. The frame support platform 51 is provided on the main frame 1, and the frame support platform 51 connects to the frame 52 transported by the forklift. The frame 52 has several base plate insertion positions arranged equidistantly in the vertical direction. The positioning reference plate 53 and the rotary clamping cylinder 54 are provided on the rear side of the frame support platform 51. The positioning clamping cylinder 55 is installed on the main frame 1 in front of the frame support platform 51. The positioning block 56 for clamping the outer frame of the frame 52 is installed on the piston rod flange plate of the positioning clamping cylinder 55. The working surface of the positioning block 56 is provided with a vertical V-groove. The positioning sensor 57 is also installed on the main frame 1 around the frame support platform 51.

[0026] This utility model discloses a dual-station frame-type loading and unloading machine for BGA carrier boards in the PCB industry. During operation, the frame 52 is transported by a forklift to the frame support platform 51 of the frame positioning mechanism 5. The positioning clamping cylinder 55 drives the positioning block 56 to extend and push the frame 52 until the rear end of the frame 52 contacts the positioning reference plate 53. The rotary clamping cylinder 54 then clamps the frame 52, completing its positioning and initiating the feeding process. The product substrate enters through a three-point contact conveyor structure. The guide and limit roller group 25 guides and positions the substrate left and right. After the substrate is in place, the six-axis arm gripping mechanism 3 begins operation. The six-axis robot arm 31 drives multiple sets of board picking components 33 on the board picking frame 32 to clamp the edge of the substrate and transfer the substrate to the vertical board insertion mechanism 4a at station A. At this time, the substrate is in a vertical position. The X and Y linear modules of the vertical board insertion mechanism 4a at station A drive the gripper cylinder 44 to clamp the upper end of the substrate and insert the substrate into the frame 52, completing the board picking action of one substrate. The subsequent substrate feeding repeats this action to complete the picking of one frame 52. The equipment automatically switches to station B to pick up the board and at the same time alarms to remind the operator to remove the frame 52 at station A or call the AGV to pick up the frame 52 from the station.

[0027] This utility model relates to a dual-station frame-type loading and unloading machine for BGA carrier boards in the PCB industry. It protects the substrate from scratches and damage, and promptly detects factors that could endanger the substrate, such as whether it is in place or whether the structure is skewed. The dual-station design ensures the continuity of the production line and has wide applicability.

[0028] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the description and drawings of this utility model, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A dual-station frame-type loading and unloading machine for BGA carrier boards in the PCB industry, characterized in that: The system includes a frame body, a conveying mechanism, a six-axis arm gripping plate mechanism, a vertical plate insertion mechanism, and a frame positioning mechanism. The conveying mechanism is installed on the frame body, and a six-axis arm gripping plate mechanism for picking up plates is installed on the frame body at the side end of the conveying mechanism. A vertical plate insertion mechanism with two workstations that docks with the six-axis arm gripping plate mechanism is also installed on the frame body, and a frame positioning mechanism is installed on the frame body below the vertical plate insertion mechanism. The six-axis arm gripping mechanism includes a six-axis manipulator, a gripping frame driven by the six-axis manipulator, and gripping assemblies installed on both sides of the gripping frame. The gripping assemblies include a push-pull cylinder, a sliding table clamping cylinder, gripping blocks, and a gripping sensor. The push-pull cylinder is installed on the gripping frame and drives the sliding table clamping cylinder to extend. The sliding table clamping cylinder is installed perpendicular to the push-pull cylinder. Opposite gripping blocks are installed on the two slides of the sliding table clamping cylinder. Gripping pads are installed on the opposite surfaces of the two gripping blocks. The gripping pads are made of soft, wear-resistant material. A gripping sensor is installed on the gripping frame at the side of the sliding table clamping cylinder.

2. The PCB industry BGA carrier plate double-station plug-in frame type feeding and discharging machine according to claim 1, characterized in that: The plate removal pad is made of Teflon material.

3. The PCB industry BGA carrier plate double position plug-in frame type feeding and discharging machine according to claim 1, characterized in that: The conveying mechanism adopts a three-point contact conveying structure, including a conveying bracket, several conveying shafts rotatably mounted on the conveying bracket, a conveying motor that drives the conveying shafts to rotate synchronously via a gear chain, three sets of conveying rollers mounted on the conveying shafts, and a set of guide and limiting rollers set on the outside of the conveying rollers. The input end of the conveying bracket is equipped with an optical fiber for identifying products.

4. The PCB industry BGA carrier plate double position plug-in frame type feeding and discharging machine according to claim 3, characterized in that: The guide and limiting roller assembly includes several adjusting brackets mounted on the conveying bracket and guide rollers vertically mounted on the adjusting brackets. The adjusting brackets are provided with elongated adjusting holes for adjusting the installation position of the guide rollers.

5. The PCB industry BGA carrier plate double position plug-in frame type feeding and discharging machine according to claim 1, characterized in that: The vertical insertion mechanism includes an X-axis linear module mounted on the main frame, a Z-axis linear module driven by the X-axis linear module to move horizontally, an insertion frame driven by the Z-axis linear module to move vertically, several gripper cylinders mounted on the top of the insertion frame, insertion grippers mounted on the two gripper arms of the gripper cylinders, and insertion sensors mounted on the middle and bottom of the insertion frame for identifying the posture of the product substrate. The insertion grippers are made of soft, wear-resistant material.

6. The PCB industry BGA carrier plate double position plug-in frame type feeding and discharging machine according to claim 1, characterized in that: The frame positioning mechanism includes a frame support platform, a frame, a positioning reference plate, a rotary clamping cylinder, a positioning clamping cylinder, a positioning block, and a positioning sensor. The frame support platform is mounted on the main frame body, and the frame support platform connects to the frame transported by the forklift. Several base plate insertion positions are equidistantly arranged in the vertical direction of the frame. The positioning reference plate and the rotary clamping cylinder are located on the rear side of the frame support platform. The positioning clamping cylinder is mounted on the main frame body in front of the frame support platform. The positioning block for clamping the outer frame is mounted on the piston rod flange plate of the positioning clamping cylinder. The working surface of the positioning block is provided with a vertical V-groove. Positioning sensors are also mounted on the main frame body around the frame support platform.

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